Remapping rules are applied in the following order: Within each category, the rules are applied in the order in which the user gave them. ROS 1 has this feature using either the environment variable ROS_NAMESPACE or the argument __ns. For single parameter assignment, use either. This tutorial uses the rqt_graph and turtlesim packages. Here the syntax is the same, and additionally it can be prefixed with a nodes name. Rely on full name addressing to disambiguate operator significance e.g. Flags, in contrast with other custom syntax alternatives, are: Unfortunately, since these flags coexist with user-defined ones, additional guarding and extraction devices must be put in place one of the reasons why these were avoided entirely in ROS 1 command lines. Names are conceptually divided into two pieces: namespace and basename. It still does not work. Supporting this use case with a single rule is not a priority. and [] dont appear to enable more uses cases above. To limit it to some_node, one may execute: Parameter assignment may be achieved using the --param/-p option. As an example, to disable logging to rosout and stdout but not to an external logging library for some_ros_executable, one may execute: Logging is fully enabled by default, thus --enable-* options are usually redundant unless a --disable-* option found earlier in the command line is being overridden. The replacement must be a single token which will become the nodes new name. The structure i have been using is: Or else in this case you can copy the contents of .launch file in another file and remap it there itself. If you write this instead: <launch> Afterwards the reference operators are replaced with the matched content. Is it possible?? When an instance of the --ros-args flag is found in argv, until either a double dash token (--) is found or the end of the argument array is reached, all arguments that follow are taken as ROS specific arguments to be parsed as such. Assuming the nodes name is unique in a process, a rule can be prefixed with the name of the target node and a :. These references are required to be separated from tokens by a /. Fnmatch syntax may or may not match text with slashes depending on the option FNM_PATHNAME. There are two cases: changing part of a namespace, and changing the entire namespace. This keeps the command line verbosity at a minimum and avoids the need for flags, but is error prone. I think you need to specify the node name under which this topic is published. Launch files simplify running complex systems with many nodes and specific configuration details. the following does not change it: Please start posting anonymously - your entry will be published after you log in or create a new account. The following launch file does not rename the node. Matching works on FQN only. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace The string __ns can be given on the match part of a rule to signal a change of the default namespace. As an example, to pass some_log.config configuration file to some_ros_executable, one may execute: Logging to rosout, stdout and an external logging library can be independently enabled or disabled. I am using hydro on Ubuntu 12.04. Does that mean I can't rename nodes? roslaunch remap ROS Topic remap publish topic remap subscribe from publish topic remap publish topic remap Create a new directory to store your launch files: Lets put together a ROS 2 launch file using the turtlesim package and its executables. from launch. The syntax here can be passed to a node via the command line. This is the ability to replace a name by exactly matching it. The act of replacing one name with another is remapping. ** behaves similar to its use in bash>=4.0 with the globstar option set. Launch files is an area that has been completely overhauled from ROS2 from a programmers perspective. This means it should be possible to make a rule that replaces all uses of this token. This option takes a single from:=to remapping rule. This node has added configuration details in the form of remappings. bringup_dir = get_package_share_directory ( 'nav2_bringup') use_composition = LaunchConfiguration ( 'use_composition') # Map fully qualified names to relative ones so the node's namespace can be prepended. The first part is used to determine if the rule applies to a name. Creative Commons Attribution Share Alike 3.0. Is there a way to remap a parameter by command line using the $ ros2 launch command? This way the new rule matches against the name the user sees with introspection tools rather than the original name used in code. As an example, to assign an enclave path /foo/bar one may execute: As is, this enclave assignment applies to each and every Domain Participant that some_ros_executable spawns unless explicitly ignored in code or overridden via security environment variables. When a name is to be tested the substitution operators (~ and {}) in the name and in the rule are replaced with the content they stand for. Names are hard coded in ROS nodes, but they can be changed at runtime through remapping. ROS 1 has this feature using the argument __name. From a launch file Here's a minimal ROS2 launch file which just launches one node with params from a YAML file. How to change/remap ros node name in launch file? However, parenthesis are not used; the wild cards always capture. *bar looks like it would match foobar, but that would mean matching a partial token. In exchange, it makes argument extraction slightly more difficult as all options must be known ahead of time, whereas --ros-args-based namespacing can achieve the same with a couple rules. $ ros2 launch . rostopic and rosservice, may also be used to further scope remapping rules. If a logging level is specified more than once in the passed command line arguments, the last one prevails. In the example where you remap the topic from chatter to foobar, the node is of type talker and it's name is "talker". This isnt really a remapping rule, but the syntax is similar. The replacement side must have a FQN with no special operators. [closed], Undefined reference to cv::Feature2D::compute. It attempts to be the same as ROS 1 syntax when possible. Launch files written in Python, XML, or YAML can start and stop different nodes as well as trigger and act on various events. "Could not find parameter robot_description_semantic" URDF ROS . It also ensures that all launch file formats are recognized. Doing so requires matching prior to FQN expansion. Command line argument extraction happens within rcl. Client libraries also have APIs in code to pass remapping rules when the node is initialized. And, to make sure the ROS launch file can find the code, we have to make sure we change the permissions of the Python script before we execute the launch file. The URL schemes rosservice:// and rostopic:// may only be given to topic or service name rules. Here is a launch file I am using. It looks the launch file you are using might already perform some kind of remapping internally: https://github.com/turtlebot/turtlebo Update 2: this only describes how to remap a topic. Exact relative replacement also requires no wildcards. In ROS 1 the argument __ns:= could change the default namespace. Both sides of a rule are expanded to FQN. Exact FQN replacement requires no wildcards. ROS2 allows you to run individual nodes with the command: $ ros2 run <package_name> <node_name> This is nice and fun if you are just running a couple of nodes at the same time, but imagine you need to run 10-20 nodes like this. These files allow you to run multiple nodes with a single command. will set the parameter string_param on nodes named some_node in any namespace. Using Python, XML, and YAML for ROS 2 Launch Files, ros2 launch , [INFO] [launch]: Default logging verbosity is set to INFO, [INFO] [turtlesim_node-1]: process started with pid [11714], [INFO] [turtlesim_node-2]: process started with pid [11715], [INFO] [mimic-3]: process started with pid [11716], ros2 topic pub -r 1 /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}", ROS 2 Iron Irwini (codename iron; May, 2023), Writing a simple publisher and subscriber (C++), Writing a simple publisher and subscriber (Python), Writing a simple service and client (C++), Writing a simple service and client (Python), Writing an action server and client (C++), Writing an action server and client (Python), Composing multiple nodes in a single process, Integrating launch files into ROS 2 packages, Running Tests in ROS 2 from the Command Line, Building a visual robot model from scratch, Using Fast DDS Discovery Server as discovery protocol [community-contributed], Unlocking the potential of Fast DDS middleware [community-contributed], Using quality-of-service settings for lossy networks, Setting up efficient intra-process communication, Creating a content filtering subscription, Deploying on IBM Cloud Kubernetes [community-contributed], Building a real-time Linux kernel [community-contributed], Migrating launch files from ROS 1 to ROS 2, Using ROS 2 launch to launch composable nodes, Migrating YAML parameter files from ROS 1 to ROS 2, Passing ROS arguments to nodes via the command-line, Synchronous vs. asynchronous service clients, Working with multiple ROS 2 middleware implementations, Running ROS 2 nodes in Docker [community-contributed], Visualizing ROS 2 data with Foxglove Studio, Building ROS 2 with tracing instrumentation, On the mixing of ament and catkin (catment), ROS 2 Technical Steering Committee Charter. For example */bar **/* ~/* are allowed, but *bar *** ~* are invalid. I explain it better: my launch file loads the parameters for my node from some YAML files, but sometimes I want to test other parameters without modifying the YAML file using some kind of CLI overload. The design document details the goal of the design of ROS 2s launch system (not all functionality is currently available). A user can supply node specific remapping arguments via the command line. If a name begins with / it is called a Fully Qualified Name (FQN) otherwise it is called a relative name. There is no workaround. The structure of a remapping rule is match:=replacement. The second part is the replacement for a matched name. URDF . That would be really cumbersome to do so. As an example, to set a global logging level to DEBUG for some_ros_executable, one may execute: Loggers can be set using the --log-level option as well: The minimum logging level of a specific logger will override the globally specified minimum logger level. Because remapping needs to capture text to use during replacement, the C function fnmatch() cannot be used as the implementation. *, and ** match whole tokens only. I have tried it with a simple example and having the remap tag before the node tag is the correct way: Are you sure your teleop node actually has that topic? Static remapping is giving a node remapping rules at the time it is launched. The syntax doesnt have a way to specify that a rule should be applied Prior to FQN expansion. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. You'll see the entire process to create, write, install, and start the launch file. substitutions import LaunchConfiguration, PythonExpression. Here the syntax is the same, and additionally it can be prefixed with a nodes current name. The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). This is the ability to create a rule that will remap only topics or only services. Example of topic/service remapping order: Example of node/namespace remapping order: Example of a default and node specific namespace remap: The following sections explain how the syntax enables the use cases above. The syntax has been chosen to not conflict with special shell characters in bash. The output of rosnode list is. Dynamic remapping is the ability to remap a name while a node is running. This syntax is identical to ROS 1. a ROS client library like rclcpp, arguments unknown to rcl are left unparsed but accessible by these layers, which in turn can continue parsing or eventually warn the user if unknown arguments remain. Specifying a URL scheme on the match side of the rule makes it exclusive to one type of name. Remove the need for double dash tokens (--), conventionally used to signify the end of CLI options for a command, by adding the --ros- prefix to all ROS specific command line flags e.g. ROS2 launch files are a powerful tool for robotics applications. * matches a single token delimeted by slashes (/). Remapping names allows reusing the same node executable in different parts of the system. This use case is the ability to change the namespace of multiple names with one rule. So I found you can rename the node with remap, like this: For the record, just remapping the node name does not work, i.e. The included launch file names the node as turtlebot_teleop_keyboard. The package providing this framework is launch_ros, which uses the non-ROS-specific launch framework underneath. If you have control over the launch file you can use an argument to allow passing in a different name for the node name. match tests if a name should be remapped. This is part of the behavior of ROS 1 remapping, so it has proven useful and including it will ease the transition to ROS 2. I know this is an old topic but I had a similar question today. The replacement side of a rule must have a FQN which will become the new default namespace. All private names are expanded to the new name before any remapping rules are applied to them. When it is provided by a package, the syntax is: You learned about creating packages in Creating a package. This also isnt a true remapping rule, but the syntax is similar. As it was the case in ROS 1, ROS 2 nodes allow configuration via command line arguments to a certain degree. A syntax like fnmatch is being considered. How To Display Launch Arguments for a Launch File in ROS2; Getting Started With OpenCV in ROS 2 Galactic (Python) Connect Your Built-in Webcam to Ubuntu 20.04 on a VirtualBox . . To prevent ROS specific command line flags from colliding with user-defined ones, the former are scoped using the --ros-args flag and a trailing double dash token (--): Note that --ros-args -- i.e. Remapping rules are the instructions describing how a node should change the names it uses. If the name matches it is remapped. If both a node name prefix and URL scheme are given, the node name prefix must come first. As a quick summary of ROS command line capabilities: For name remapping and parameter assignment, specific nodes can be targeted by prepending the option value with the node name followed by a colon :, as in --remap my_node:from:=to and --param my_node:name:=value. Remapping affects both which topics a node subscribes to or publishes to. In ROS 1 the argument __name:= could change the nodes name. Both turtles in this system receive commands over the same topic and publish their pose over the same topic. mimics /input/pose topic is remapped to /turtlesim1/turtle1/pose and its /output/cmd_vel topic to /turtlesim2/turtle1/cmd_vel. The name is remapped to the right side only if it exactly matches the left side of a rule. To limit it to some_node, one may execute: As mentioned above, this can either be in Python, XML, or YAML. On the match side __ns must be used by itself or with a nodename: prefix. The configuration of the system includes what programs to run, where to run them, what arguments to pass them, and ROS-specific conventions which make it easy to reuse components throughout the system by giving them each a different configuration. Then the name is expanded to a FQN. These use cases are being considered for remapping in ROS 2: This is the ability to apply remap rules to one node in a process without affecting the other nodes. A hidden node (the ros2 topic pub command you ran) is publishing data to the /turtlesim1/turtle1/cmd_vel topic on the left, which the /turtlesim1/sim node is subscribed to. ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer. This is also part of ROS 1 remapping. It may be useful for a developer who has started a node and wants to connect it to a different source. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they . The rest of the graph shows what was described earlier: mimic is subscribed to /turtlesim1/sims pose topic, and publishes to /turtlesim2/sims velocity command topic. Next, the launch description itself begins: The first two actions in the launch description launch the two turtlesim windows: The final action launches the mimic node with the remaps: The first two actions launch the two turtlesim windows: To run the launch file created above, enter into the directory you created earlier and run the following command: It is possible to launch a launch file directly (as we do above), or provided by a package. This is a feature of ROS 1 remapping. As always, dont forget to source ROS 2 in every new terminal you open. It works by first expanding the relative name and then doing FQN replacement. The first part is used to determine if the rule applies to a name. It should be read before reading this article. MoveIt! ros2launchpythonyamlxml.launch.xml ros1ros noderos nodeletros2component launch.py component; Python Launch. When launching the two turtlesim nodes, the only difference between them is their namespace values. Because processes in ROS 2 can contain multiple nodes, it is possible multiple nodes in a process may use the same name for different purposes. The replacement part of a rule may not have a URL scheme. I would like to rename a node from a launch file which includes other launch file. This option takes a single configuration file, whose format depends on the actual external logging library being used. In ROS 1 remapping works by passing in arguments to each node. You can create launch files using Python, XML, or YAML, and run them using the ros2 launch command. A popular ROS 1 package actionlib creates 5 topics with the same namespace. The extra wildcards ? See Using Python, XML, and YAML for ROS 2 Launch Files for a description of the different formats. If the node name is not prefixed, the rule will be applied to all nodes in the process. This namespace gets prepended to all relative names used by the node. Just to clarify. ROS2 BASICS IN 5 DAYS. A robot that has multiple sensors of the same type could launch multiple instances of the same node with outputs remapped to different topics. Log messages use the new name immediately. This option takes a YAML file with the following structure: Multiple nodes in a single executable can be targeted this way. This means mimic will subscribe to /turtlesim1/sims pose topic and republish it for /turtlesim2/sims velocity command topic to subscribe to. It means relative names are first expanded to FQN, and then processed as during exact FQN replacement. It is also responsible for monitoring the state of the processes launched, and reporting and/or reacting to changes in the state of those processes. Special Rule for Changing the Default Namespace, Supporting: Exact Relative Name Replacement, Supporting: Remap Topic and Service Names Separately, A user wants the node to subscribe to the same data after some processing, A company sells a generic mobile robot base with a ROS 2 driver. In ROS 2, this interface had to become more complex to cope with a larger set of configuration options, an ambiguity in remapping rules and parameter assignment syntax (as a result of the leading underscore name convention for hidden resources), a one-to-many relationship between executables and nodes, to name a few. Remapping rules may be introduced using the --remap/-r option. This is a proposal for the ROS 2 remapping rule syntax. If no user defined arguments are provided after ROS specific arguments are, the double dash token (--) may be elided: Note that a sole trailing --ros-args remains a valid invocation. The second part is the replacement for a matched name. := behaves the same as it does in ROS 1. It also increases command line verbosity. With unique namespaces, messages meant for different turtles can be distinguished. According to the docs ( http://wiki.ros.org/roslaunch/XML/remap ) remap affects all subsequent nodes. See rcutils and rcl logging documentation for reference on existing logging levels. The wildcard ** is useful because it matches every possible namespace when combined with a slash. The substitution operators (~ and {}) are replaced first. These special operators are unique to the replacement part of a rule: The syntax for \1 through \9 was taken from backreferences in POSIX BRE. Can I change the node-name "talker" to "speaker"?? As an example, to assign a string value test to a parameter string_param for some_ros_executable, one may execute: As is, this parameter assignment applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. This allows a user to remap a relative name to another name. The character for the wild card * was chosen to match fnmatch. Hi, I am using hydro on Ubuntu 12.04. roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server.It includes options to automatically respawn processes that have already died. Remapping a node in a process requires a way to uniquely identify a node. You will also need to use a text editor of your preference. As an example, to remap from foo to bar for some_ros_executable, one may execute: As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. If you have control over the launch file you can use an argument to allow passing in a different name for the node name. This description lays out the main roles of roslaunch from ROS 1 as: launch nodes launching nodes remotely via SSH setting parameters on the parameter server automatic respawning of processes that die static, XML based description of the nodes to launch, parameters to set, and where to run them Example of partial namespace replacement: Changing a basename requires a wildcard which matches the entire namespace. 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